CN116300422A - Hydropower unit control optimization method and terminal - Google Patents
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Abstract
The invention discloses a hydroelectric generating set control optimization method and a terminal, which are characterized in that a mathematical model of a hydroelectric generating set regulating system described by a state space equation is established, and a system measurement output vector and a system performance evaluation output vector of the hydroelectric generating set regulating system are defined; and then the system mathematical model, the system measurement output vector and the system performance evaluation output vector of the combined hydroelectric generating set are regulated to obtain a system state space equation; based on robust H ∞ The theory and system state space equation formulate the system output feedback robust theory optimization flow; then, carrying out optimizing and setting on the system performance evaluation output vector by utilizing an artificial intelligence algorithm; and finally, executing a system output feedback robust theory optimization flow, and determining the optimal control parameter of the hydroelectric generating set adjusting system. The invention ensures that the hydroelectric generating set obtains good dynamic performance, effectively inhibits various disturbance of the generating set in the adjusting process and improves the stability of the generating set in the adjusting process.
Description
Technical Field
The invention relates to the technical field of automatic control of hydroelectric generating sets, in particular to a control optimization method and a terminal of a hydroelectric generating set.
Background
The hydroelectric generating set is a power supply device which uses a water turbine as a prime motor to drag a synchronous generator to generate power, and the normal safe and stable operation of the hydroelectric generating set depends on a hydroelectric generating set adjusting system. The hydroelectric generating set regulating system consists of a water turbine, a generator, a controller, an actuator and the like. Wherein, the adjustment means control guide She Kaidu, change the inflow of the hydraulic turbine to make the resistance moment that the generator causes balanced with the main torque that the hydraulic turbine exports, keep the unit rotational speed stable.
The controller of the regulation system is usually a PI controller, and the quality of the control performance often depends on the controller parameters. Typically, the PI controller parameters of the hydroelectric generating set adjusting system are obtained according to an empirical method, a classical method or a trial-and-error method. However, these methods may not enable the controlled object to obtain good dynamic performance, and it is difficult to effectively suppress various disturbances of the unit in the adjustment process, so that the adjustment process of the unit is not stable enough.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the control optimization method and the terminal for the hydroelectric generating set are provided, so that the hydroelectric generating set obtains good dynamic performance, various disturbance of the generating set in the adjusting process is effectively restrained, and the stability of the generating set in the adjusting process is improved.
In order to solve the technical problems, the invention adopts the following technical scheme:
a hydroelectric generating set control optimization method comprises the following steps:
s1, establishing a mathematical model of a hydroelectric generating set regulating system described by a state space equation, and defining a system measurement output vector and a system performance evaluation output vector of the hydroelectric generating set regulating system;
s2, combining the mathematical model of the hydroelectric generating set adjusting system, the system measurement output vector and the system performance evaluation output vector to obtain a system state space equation;
s3, based on robust H ∞ The theory and the system state space equation formulate a system output feedback robust theory optimization flow;
s4, optimizing and setting the system performance evaluation output vector by using an artificial intelligent algorithm;
s5, executing the system output feedback robust theory optimization flow, and determining the optimal control parameter of the hydroelectric generating set adjusting system.
In order to solve the technical problems, the invention adopts another technical scheme that:
a hydroelectric generating set control optimizing terminal, comprising a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the following steps when executing the computer program:
s1, establishing a mathematical model of a hydroelectric generating set regulating system described by a state space equation, and defining a system measurement output vector and a system performance evaluation output vector of the hydroelectric generating set regulating system;
s2, combining the mathematical model of the hydroelectric generating set adjusting system, the system measurement output vector and the system performance evaluation output vector to obtain a system state space equation;
s3, based on robust H ∞ The theory and the system state space equation formulate a system output feedback robust theory optimization flow;
s4, optimizing and setting the system performance evaluation output vector by using an artificial intelligent algorithm;
s5, executing the system output feedback robust theory optimization flow, and determining the optimal control parameter of the hydroelectric generating set adjusting system.
The invention has the beneficial effects that: provides a hydropower unit control optimization method and terminal, and a simultaneous hydropower unit adjusting system mathematical model and a system measurement output vectorAnd establishing a system state space equation, thereby being based on robust H ∞ The problem of optimizing control parameters of a hydroelectric generating set adjusting system is converted into a system output feedback robust control process by theory, an artificial intelligent algorithm is adopted to optimize and set a system performance evaluation output vector, and the optimization of parameters of a PI controller of the hydroelectric generating set adjusting system is realized, so that the hydroelectric generating set obtains good dynamic performance, various disturbance of the generating set in the adjusting process is effectively restrained, and the stability of the generating set adjusting process is improved.
Drawings
FIG. 1 is a schematic diagram of steps of a control optimization method of a hydroelectric generating set according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a hydroelectric generating set adjusting system according to a hydroelectric generating set control optimizing method according to an embodiment of the present invention;
FIG. 3 is an ideal control block diagram of a hydroelectric generating set regulating system according to a hydroelectric generating set control optimization method according to an embodiment of the present invention;
fig. 4 is an algorithm flow chart of a system output feedback robust theory optimization flow of a hydroelectric generating set control optimization method according to an embodiment of the present invention;
FIG. 5 is a response chart of unit rotational speed deviation under load disturbance of a simulation experiment of a hydroelectric unit control optimization method according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a control and optimization terminal of a hydroelectric generating set according to an embodiment of the present invention.
Description of the reference numerals:
1. a hydroelectric generating set control optimizing terminal; 2. a processor; 3. a memory.
Detailed Description
In order to describe the technical contents, the achieved objects and effects of the present invention in detail, the following description will be made with reference to the embodiments in conjunction with the accompanying drawings.
Referring to fig. 1 to 5, a hydroelectric generating set control optimization method includes the steps of:
s1, establishing a mathematical model of a hydroelectric generating set regulating system described by a state space equation, and defining a system measurement output vector and a system performance evaluation output vector of the hydroelectric generating set regulating system;
s2, combining the mathematical model of the hydroelectric generating set adjusting system, the system measurement output vector and the system performance evaluation output vector to obtain a system state space equation;
s3, based on robust H ∞ The theory and the system state space equation formulate a system output feedback robust theory optimization flow;
s4, optimizing and setting the system performance evaluation output vector by using an artificial intelligent algorithm;
s5, executing the system output feedback robust theory optimization flow, and determining the optimal control parameter of the hydroelectric generating set adjusting system.
From the above description, the beneficial effects of the invention are as follows: the control optimization method and the terminal of the hydroelectric generating set are provided, a system state space equation is established by a mathematical model of an adjusting system of the combined hydroelectric generating set, a system measurement output vector and the like, and further the system state space equation is based on robust H ∞ The problem of optimizing control parameters of a hydroelectric generating set adjusting system is converted into a system output feedback robust control process by theory, an artificial intelligent algorithm is adopted to optimize and set a system performance evaluation output vector, and the optimization of parameters of a PI controller of the hydroelectric generating set adjusting system is realized, so that the hydroelectric generating set obtains good dynamic performance, various disturbance of the generating set in the adjusting process is effectively restrained, and the stability of the generating set adjusting process is improved.
Further, the establishing a mathematical model of the hydroelectric generating set adjusting system described by a state space equation specifically comprises:
and establishing an adjusting servomotor mathematical model, a water turbine mathematical model and a generator mathematical model of the hydroelectric generating set adjusting system in parallel to obtain the hydroelectric generating set adjusting system mathematical model described by a state space equation.
From the above description, a mathematical theoretical model for adjusting the servomotor, the water turbine and the generator is established by adopting a modern theory, so that an algorithm is used for parameter design of the controller, and the control design of the PI controller of the hydroelectric generating set adjusting system is more reliable and accurate.
Further, the step S3 includes:
based on robust H ∞ Theoretical definition of controller robust theoretical optimal conditions and system output feedback robust theoretical optimal flow;
inputting the mathematical model of the hydroelectric generating set adjusting system and the coefficient matrix of the system measurement output vector in the system state space equation into the system output feedback robust theory optimization flow to obtain a state feedback matrix which enables the controller output feedback of the hydroelectric generating set adjusting system to be stable and meets the controller robust theory optimal condition.
From the above description, it can be seen that robust H-based ∞ The given state feedback matrix is theoretically searched, so that the output feedback of the controller of the system is kept stable, the controller parameters of the hydroelectric generating set adjusting system are optimized, and the operation performance of the hydroelectric generating set adjusting system under the control of the controller is further improved.
Further, the step S4 specifically includes:
and taking the minimum square integral of the absolute value of the rotating speed deviation of the unit as an objective function, and carrying out optimizing and setting on the system performance evaluation output vector by utilizing the artificial intelligence algorithm.
From the above description, when optimizing and timing the system performance evaluation output vector, the square integral of the absolute value of the unit rotational speed deviation is used as the objective function, so that the control quality of the controller is ensured.
Further, the artificial intelligence algorithm is a goblet sea squirt optimization algorithm.
From the description, the optimization algorithm of the goblet sea squirt has better robustness and optimizing capability, is beneficial to realizing the optimization of the parameters of the PI controller of the hydroelectric generating set adjusting system, and avoids the defects caused by manual parameter selection.
Referring to fig. 6, a hydroelectric generating set control optimization terminal 1 comprises a memory 3, a processor 2 and a computer program stored in the memory 3 and capable of running on the processor 2, wherein the processor 2 executes the computer program to realize the following steps:
s1, establishing a mathematical model of a hydroelectric generating set regulating system described by a state space equation, and defining a system measurement output vector and a system performance evaluation output vector of the hydroelectric generating set regulating system;
s2, combining the mathematical model of the hydroelectric generating set adjusting system, the system measurement output vector and the system performance evaluation output vector to obtain a system state space equation;
s3, based on robust H ∞ The theory and the system state space equation formulate a system output feedback robust theory optimization flow;
s4, optimizing and setting the system performance evaluation output vector by using an artificial intelligent algorithm;
s5, executing a system output feedback robust theory optimization flow, and determining optimal control parameters of the hydroelectric generating set adjusting system.
From the above description, the beneficial effects of the invention are as follows: the control optimization method and the terminal of the hydroelectric generating set are provided, a system state space equation is established by a mathematical model of an adjusting system of the combined hydroelectric generating set, a system measurement output vector and the like, and further the system state space equation is based on robust H ∞ The problem of optimizing control parameters of a hydroelectric generating set adjusting system is converted into a system output feedback robust control process by theory, an artificial intelligent algorithm is adopted to optimize and set a system performance evaluation output vector, and the optimization of parameters of a PI controller of the hydroelectric generating set adjusting system is realized, so that the hydroelectric generating set obtains good dynamic performance, various disturbance of the generating set in the adjusting process is effectively restrained, and the stability of the generating set adjusting process is improved.
Further, the establishing a mathematical model of the hydroelectric generating set adjusting system described by a state space equation specifically comprises:
and establishing an adjusting servomotor mathematical model, a water turbine mathematical model and a generator mathematical model of the hydroelectric generating set adjusting system in parallel to obtain the hydroelectric generating set adjusting system mathematical model described by a state space equation.
From the above description, a mathematical theoretical model for adjusting the servomotor, the water turbine and the generator is established by adopting a modern theory, so that an algorithm is used for parameter design of the controller, and the control design of the PI controller of the hydroelectric generating set adjusting system is more reliable and accurate.
Further, the step S3 specifically includes:
based on robust H ∞ Theoretical definition of controller robust theoretical optimal conditions and system output feedback robust theoretical optimal flow;
inputting the mathematical model of the hydroelectric generating set adjusting system and the coefficient matrix of the system measurement output vector in the system state space equation into the system output feedback robust theory optimization flow to obtain a state feedback matrix which enables the controller output feedback of the hydroelectric generating set adjusting system to be stable and meets the controller robust theory optimal condition.
From the above description, it can be seen that robust H-based ∞ The given state feedback matrix is theoretically searched, so that the output feedback of the controller of the system is kept stable, the controller parameters of the hydroelectric generating set adjusting system are optimized, and the operation performance of the hydroelectric generating set adjusting system under the control of the controller is further improved.
Further, the step S4 specifically includes:
and taking the minimum square integral of the absolute value of the rotating speed deviation of the unit as an objective function, and carrying out optimizing and setting on the system performance evaluation output vector by utilizing the artificial intelligence algorithm.
From the above description, when optimizing and timing the system performance evaluation output vector, the square integral of the absolute value of the unit rotational speed deviation is used as the objective function, so that the control quality of the controller is ensured.
Further, the artificial intelligence algorithm is a goblet sea squirt optimization algorithm.
From the description, the optimization algorithm of the goblet sea squirt has better robustness and optimizing capability, is beneficial to realizing the optimization of the parameters of the PI controller of the hydroelectric generating set adjusting system, and avoids the defects caused by manual parameter selection.
The hydropower unit control optimization method and the terminal can be applied to the scene of PI control parameter design of a hydropower unit adjusting system, and the method and the terminal are described by specific implementation modes:
referring to fig. 1 to 5, a first embodiment of the present invention is as follows:
a hydroelectric generating set control optimization method comprises the following steps:
s1, establishing a mathematical model of a hydroelectric generating set regulating system described by a state space equation, and defining a system measurement output vector and a system performance evaluation output vector of the hydroelectric generating set regulating system;
in an embodiment, as shown in fig. 2 and 3, establishing a mathematical model of a hydroelectric generating set adjustment system described by a state space equation specifically includes: the method comprises the following steps of creating an adjusting servomotor mathematical model, a water turbine mathematical model and a generator mathematical model of the parallel hydroelectric generating set adjusting system to obtain the hydroelectric generating set adjusting system mathematical model described by a state space equation, wherein the specific process is as follows:
establishing a mathematical model of the adjusting servomotor: the hydroelectric generating set adjusts the servomotor to play a role in amplifying the control signal and pushing the guide vane of the water turbine to move; the mathematical model can be described as a first-order inertial link by adopting a transfer function, and is described as:
wherein y represents a relative value of the stroke of the main servomotor; t (T) y Representing a master servomotor time constant;
and (3) establishing a mathematical model of the water turbine: the water turbine is core equipment for converting potential energy of water flow into mechanical energy of a rotating wheel, a mathematical model of the water turbine is an ideal water turbine model described by transfer coefficients, and the specific expression is as follows:
wherein e x 、e y 、e h 、e qy 、e qh Is the relative transfer coefficient of the water turbine; t (T) w The time constant of the diversion system is set;
establishing a mathematical model of the generator: the generator model only considers the rigid moving parts, so its mathematical model can be described as:
wherein ω is the relative value of the unit rotational speed deviation; m is m g0 Indicating the load effect; t (T) a And e n Respectively representing the inertial time constant of the unit and the self-adjusting coefficient of the unit;
after the combination, a mathematical model of the hydroelectric generating set regulating system described by a state space equation is obtained:
x＝Ax+B 1 w+B 2 u；
wherein x is a system state vector, w is a system input disturbance, x, w, coefficient matrix A, B 1 B, B 2 Respectively defined as:
w＝m g0 ；
wherein h represents the relative value of the inlet water pressure of the volute; u denotes a control input.
In this embodiment, the control input to the hydroelectric generating set regulating system is calculated by the PI controller. The expression is as follows:
u＝k P ω+k I ∫ωdt；
wherein k is P And k I Is a constant real number, and omega represents the relative value of the rotational speed deviation of the unit;
the relative value omega of the rotating speed deviation of the unit and the integral omega/s of the relative value omega are used as output vectors by an augmentation system, and the measured output vectors of the system are defined as follows:
y＝C 2 x；
wherein C is 2 Is defined as:
in the present embodiment, for the hydro-power unit adjustment system described in the state space equation, a system performance evaluation output vector is defined:
z＝C 1 x+D 11 w+D 12 u；
wherein C is 1 、D 11 And D 12 Is defined as:
wherein mu 1 ，μ 2 Mu, and 3 the weighting coefficients are to be optimized.
S2, adjusting a system mathematical model, a system measurement output vector and a system performance evaluation output vector of the simultaneous hydroelectric generating set to obtain a system state space equation;
in this embodiment, the system state space equation obtained after the simultaneous operation is as follows:
s3, based on robust H ∞ The theory and system state space equation formulate the system output feedback robust theory optimization flow;
in this embodiment, step S3 specifically includes:
based on robust H ∞ Theoretical definition of controller robust theoretical optimal conditions and system output feedback robust theoretical optimal flow;
wherein, based on robust H ∞ Theoretical definition of the optimum condition for the robust theory means H from disturbance w to z ∞ Criteria less than gamma (gamma)>0) The method comprises the following steps:
‖T zw (s)‖ ∞ <γ；
wherein, the meaning of gamma represents H ∞ A performance index;
in the present embodiment, the expressed H is solved by a system measurement output feedback control law u=ky ∞ The problem is that all eigenvalues of a closed-loop matrix with feedback of system measurement output are shifted to the left half plane by reducing one real number, thereby meeting the requirement of II T zw (s)‖ ∞ <Gamma describes H ∞ The criterion is less than the gamma condition. Where K represents the state feedback matrix.
In this embodiment, as shown in fig. 4, a mathematical model of a hydro-power unit adjustment system and a coefficient matrix of a system measurement output vector in a system state space equation are input into a system output feedback robust theory optimization flow to obtain a state feedback matrix which enables a controller output feedback of the hydro-power unit adjustment system to remain stable and satisfies a controller robust theory optimal condition, and the specific process is as follows:
31. setting initial values and defining a matrix
The definition is as follows:
wherein I is a unit matrix with proper dimension;
s32, let i=1, Δγ=Δγ 0 Let gamma i ＝γ 0 >γ，Δ γ0 And γ0 is a positive real number;
s33, defining a positive definite matrix Q, solving from the following Riccati algebraic equation
Definition of the definition
Step S34 is
K i And a i Solving the problem of having a under LMI constraints i Minimization:
in FIG. 4, a i * Is a as i Is a minimum of (2);
s35, if
Turning to step S38;
s36 for i>1, if
Then K is i-1 ∈K sof Is based on H ∞ Robust H ∞ Theoretical PI control parameter matrix, and γ * ＝γ i +Δγ represents a lower limit such that the system is capable of H by SOF control ∞ Stable, proceed to step S310;
s37, if resolved at i=1
And K i Is an optimization problem of (a). Under LMI constraints:
performing minimization
And define->
S38, set gamma i ＝γ i -Δ γ I=i+1, and then goes to step S33;
s39 if I X i -P i ||<Delta is the solved solution X i In the small area feasible range, go to step S36; otherwise let i=i+1,
then go to step S34;
s310, if the obtained solution K (i-1) It is preferable to meet the gain constraint and stop the iterative process.
S4, optimizing and setting the system performance evaluation output vector by using an artificial intelligent algorithm;
in this embodiment, step S4 specifically includes:
taking the minimum square integral of the absolute value of the rotating speed deviation of the unit as an objective function, and utilizing an artificial intelligence algorithm to evaluate the internal weighting coefficient mu of the output vector of the system performance 1 、μ 2 Mu, and 3 and carrying out optimizing and setting.
Wherein the objective function is expressed as:
J＝∫|ω| 2 dt；
in this embodiment, the artificial intelligence algorithm is a goblet sea squirt optimization algorithm, described as:
the method is arranged in an European space of N dimensions, wherein N represents the population scale, and the position information of the population is represented by a two-dimensional matrix. The goblet sea squirt leader is responsible for searching food sources in space, leading the whole population to move, and the position updating mathematical expression is as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,
is the first goblet ecteinascidity leader position in the ζ dimension; f (F) ζ The position of the food source in the zeta dimension; u (u) ζ ，l ζ The upper and lower boundaries of the zeta-dimensional search space are respectively; c 1 ，c 2 ，c 3 Is a random number; c 2 ,c 3 ∈[0,1]；/>
The current iteration number; l (L) max Is the maximum number of iterations. Convergence factor c 1 For balancing the exploration and development capabilities of algorithms in an iterative process. When c 1 >1, the algorithm performs global exploration; when c 1 <1, carrying out local development on an algorithm, and further accurately searching an optimal value;
the goblet sea squirt follower moves along with the leader in a chain in sequence, and the position is updated according to the following formula:
wherein:
is the position of the eta follower in the zeta dimension; />
Is the position of the eta-1 follower in the zeta dimension.
At the time of follower position update, the linearly decreasing inertia weight w is increased to accelerate the convergence time of SSA algorithm, namely:
the follower position update mathematical model at this time can be described as:
because the algorithm only needs to update one parameter, the algorithm has a higher convergence rate compared with the current bionic intelligent algorithm; thereby the internal weighting coefficient mu of the performance output of the solving system 1 、μ 2 Mu, and 3 the process has better adaptability.
S5, executing a system output feedback robust theory optimization flow, and determining optimal control parameters of the hydroelectric generating set adjusting system.
In this embodiment, the specific solving process includes the following:
in the solving process, wherein A, B 1 ，B 2 Given a known matrix for the system, μ 1 ～μ 3 The random amounts generated by the optimization algorithm are the sum of mu by adopting the sea squirt swarm algorithm 1 ～μ 3 Performing assignment, optimizing and setting each state feedback matrix K, solving the optimal value and the maximum iteration number l of the per sea squirt group algorithm max =100. The fitness function of the optimization process adopts square integration of absolute value of unit rotating speed deviation, and the steps are as follows:
(1) Generating a group of sea squirts, and assigning mu to the individuals in turn 1 ～μ 3 Forming a dynamic performance evaluation signal matrix C 1 、D 11 、D 12 ；
(2) From matrices A, B 1 ，B 2 C 1 、D 11 、D 12 Input the system output feedback robust H shown in FIG. 4 ∞ The theoretical optimization flow is carried out, and a state feedback matrix K is obtained;
(3) Update control signal u=ky; the linear state space model is operated under fixed disturbance, and a performance index J= Special (|omega|) 2 dt
(4) Whether or not the maximum number of iterations/is reached max If yes, ending, and setting K as K corresponding to the minimum performance index * Otherwise, updating the sea squirt group, returning to the step (2)) Continuing circulation;
in order to verify the invention, a robust H-based method is provided ∞ Correctness and advancement of PI control parameter optimization method of theoretical hydroelectric generating set adjusting system, substituting set parameters into embodiments, and designing robust H-based ∞ Theoretical hydropower unit adjusting system PI control parameters; simulation parameters: t (T) y ＝0.2，T a ＝9.06；T w ＝0.27；e x ＝0.008；e h ＝0.685；e y ＝1.540；e qx ＝0.104；e qh ＝0.27；e qy ＝1.130；e n =0.30. Through the optimizing operation of 100 generations, the joint matrix A, B 1 And B 2 Obtaining a state feedback matrix K * The setting value of (2) is:
K * ＝[19.4756 0.63478]
simulation working condition one: the rotational speed response curve of the unit after the system has been loaded with a load of 0.1p.u. at 5 seconds is assumed to be shown in fig. 5. From the results of fig. 5, the method provided by the invention can shorten the dynamic response time of the rotating speed of the unit and reduce the overshoot. By analyzing simulation results, the embodiment can enable the speed regulating system to have stronger robustness, and has excellent dynamic performances of short regulating time, small overshoot, few oscillation times and the like under disturbance. In other words, the present invention is based on robust H ∞ The PI control parameter optimization of the hydroelectric generating set adjusting system is performed theoretically, and compared with a traditional PI control parameter classical stabilization method, the method based on robust H is adopted ∞ Theoretically obtaining PI control parameters of the unit and combining robust H ∞ The theory not only can improve the dynamic performance of the system, but also can effectively inhibit various disturbance of the unit in the adjusting process and improve the stability of the unit adjusting process.
Referring to fig. 6, a second embodiment of the present invention is as follows:
the hydroelectric generating set control optimizing terminal 1 comprises a memory 3, a processor 2 and a computer program stored in the memory 3 and capable of running on the processor 2, wherein the processor 2 realizes the steps of the first embodiment when executing the computer program.
In summary, the present invention provides a hydroelectric generating setControl optimization method and terminal, and system state space equation is established by simultaneous hydropower unit adjusting system mathematical model, system measurement output vector and the like, and further based on robust H ∞ The problem of optimizing control parameters of a hydroelectric generating set adjusting system is converted into a system output feedback robust control process by theory, an artificial intelligent algorithm is adopted to optimize and set a system performance evaluation output vector, and the optimization of parameters of a PI controller of the hydroelectric generating set adjusting system is realized, so that the hydroelectric generating set obtains good dynamic performance, various disturbance of the generating set in the adjusting process is effectively restrained, and the stability of the generating set adjusting process is improved.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent changes made by the specification and drawings of the present invention, or direct or indirect application in the relevant art, are included in the scope of the present invention.
Claims (10)
1. The hydroelectric generating set control optimization method is characterized by comprising the following steps:
s1, establishing a mathematical model of a hydroelectric generating set regulating system described by a state space equation, and defining a system measurement output vector and a system performance evaluation output vector of the hydroelectric generating set regulating system;
s2, combining the mathematical model of the hydroelectric generating set adjusting system, the system measurement output vector and the system performance evaluation output vector to obtain a system state space equation;
s3, based on robust H ∞ The theory and the system state space equation formulate a system output feedback robust theory optimization flow;
s4, optimizing and setting the system performance evaluation output vector by using an artificial intelligent algorithm;
s5, executing the system output feedback robust theory optimization flow, and determining the optimal control parameter of the hydroelectric generating set adjusting system.
2. The method for optimizing control of a hydroelectric generating set according to claim 1, wherein the establishing a mathematical model of a hydroelectric generating set adjusting system described by a state space equation specifically comprises:
and establishing an adjusting servomotor mathematical model, a water turbine mathematical model and a generator mathematical model of the hydroelectric generating set adjusting system in parallel to obtain the hydroelectric generating set adjusting system mathematical model described by a state space equation.
3. The control optimization method of a hydroelectric generating set according to claim 1, wherein the step S3 specifically comprises:
based on robust H ∞ Theoretical definition of controller robust theoretical optimal conditions and system output feedback robust theoretical optimal flow;
inputting the mathematical model of the hydroelectric generating set adjusting system and the coefficient matrix of the system measurement output vector in the system state space equation into the system output feedback robust theory optimization flow to obtain a state feedback matrix which enables the controller output feedback of the hydroelectric generating set adjusting system to be stable and meets the controller robust theory optimal condition.
4. The control optimization method of a hydroelectric generating set according to claim 1, wherein the step S4 specifically comprises:
and taking the minimum square integral of the absolute value of the rotating speed deviation of the unit as an objective function, and carrying out optimizing and setting on the system performance evaluation output vector by utilizing the artificial intelligence algorithm.
5. The hydroelectric generating set control optimization method according to claim 1, wherein the artificial intelligence algorithm is a goblet sea squirt optimization algorithm.
6. A hydroelectric generating set control optimizing terminal, comprising a memory, a processor and a computer program stored on the memory and capable of running on the processor, characterized in that the processor executes the computer program to realize the following steps:
s1, establishing a mathematical model of a hydroelectric generating set regulating system described by a state space equation, and defining a system measurement output vector and a system performance evaluation output vector of the hydroelectric generating set regulating system;
s2, combining the mathematical model of the hydroelectric generating set adjusting system, the system measurement output vector and the system performance evaluation output vector to obtain a system state space equation;
s3, based on robust H ∞ The theory and the system state space equation formulate a system output feedback robust theory optimization flow;
s4, optimizing and setting the system performance evaluation output vector by using an artificial intelligent algorithm;
s5, executing the system output feedback robust theory optimization flow, and determining the optimal control parameter of the hydroelectric generating set adjusting system.
7. The control and optimization terminal of a hydroelectric generating set according to claim 6, wherein the establishing a mathematical model of a hydroelectric generating set adjusting system described by a state space equation specifically comprises:
and establishing an adjusting servomotor mathematical model, a water turbine mathematical model and a generator mathematical model of the hydroelectric generating set adjusting system in parallel to obtain the hydroelectric generating set adjusting system mathematical model described by a state space equation.
8. The control and optimization terminal for a hydroelectric generating set according to claim 6, wherein the step S3 specifically comprises:
based on robust H ∞ Theoretical definition of controller robust theoretical optimal conditions and system output feedback robust theoretical optimal flow;
inputting the mathematical model of the hydroelectric generating set adjusting system and the coefficient matrix of the system measurement output vector in the system state space equation into the system output feedback robust theory optimization flow to obtain a state feedback matrix which enables the controller output feedback of the hydroelectric generating set adjusting system to be stable and meets the controller robust theory optimal condition.
9. The control and optimization terminal of a hydroelectric generating set according to claim 6, wherein the step S4 specifically comprises:
and taking the minimum square integral of the absolute value of the rotating speed deviation of the unit as an objective function, and carrying out optimizing and setting on the system performance evaluation output vector by utilizing the artificial intelligence algorithm.
10. The hydroelectric generating set control optimization terminal of claim 6, wherein the artificial intelligence algorithm is a goblet sea squirt optimization algorithm.
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